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   "source": [
    "# Overview\n",
    "To begin, ensure you have Tianshou and the Gym environment installed by executing the following commands. This tutorials will always keep up with the latest version of Tianshou since they also serve as a test for the latest version. For users on older versions of Tianshou, please consult the [documentation](https://tianshou.readthedocs.io/en/latest/) corresponding to your version..\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "1_mLTSEIcY2c"
   },
   "source": [
    "## Run the code"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "IcFNmCjYeIIU"
   },
   "source": [
    "Below is a short script that use a certain DRL algorithm (PPO) to solve the classic CartPole-v1\n",
    "problem in Gym. Simply run it and **don't worry** if you can't understand the code very well. That is\n",
    "exactly what this tutorial is for.\n",
    "\n",
    "If the script ends normally, you will see the evaluation result printed out before the first\n",
    "epoch is finished."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
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     "hide-cell",
     "remove-output"
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   "source": [
    "%%capture\n",
    "\n",
    "import gymnasium as gym\n",
    "import torch\n",
    "\n",
    "from tianshou.data import Collector, CollectStats, VectorReplayBuffer\n",
    "from tianshou.env import DummyVectorEnv\n",
    "from tianshou.policy import PPOPolicy\n",
    "from tianshou.trainer import OnpolicyTrainer\n",
    "from tianshou.utils.net.common import ActorCritic, Net\n",
    "from tianshou.utils.net.discrete import Actor, Critic\n",
    "\n",
    "device = \"cuda\" if torch.cuda.is_available() else \"cpu\""
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "tags": [
     "hide-output"
    ]
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   "source": [
    "# environments\n",
    "env = gym.make(\"CartPole-v1\")\n",
    "train_envs = DummyVectorEnv([lambda: gym.make(\"CartPole-v1\") for _ in range(20)])\n",
    "test_envs = DummyVectorEnv([lambda: gym.make(\"CartPole-v1\") for _ in range(10)])\n",
    "\n",
    "# model & optimizer\n",
    "assert env.observation_space.shape is not None  # for mypy\n",
    "net = Net(state_shape=env.observation_space.shape, hidden_sizes=[64, 64], device=device)\n",
    "\n",
    "assert isinstance(env.action_space, gym.spaces.Discrete)  # for mypy\n",
    "actor = Actor(preprocess_net=net, action_shape=env.action_space.n, device=device).to(device)\n",
    "critic = Critic(preprocess_net=net, device=device).to(device)\n",
    "actor_critic = ActorCritic(actor, critic)\n",
    "optim = torch.optim.Adam(actor_critic.parameters(), lr=0.0003)\n",
    "\n",
    "# PPO policy\n",
    "dist = torch.distributions.Categorical\n",
    "policy: PPOPolicy = PPOPolicy(\n",
    "    actor=actor,\n",
    "    critic=critic,\n",
    "    optim=optim,\n",
    "    dist_fn=dist,\n",
    "    action_space=env.action_space,\n",
    "    action_scaling=False,\n",
    ")\n",
    "\n",
    "# collector\n",
    "train_collector = Collector[CollectStats](\n",
    "    policy,\n",
    "    train_envs,\n",
    "    VectorReplayBuffer(20000, len(train_envs)),\n",
    ")\n",
    "test_collector = Collector[CollectStats](policy, test_envs)\n",
    "\n",
    "# trainer\n",
    "train_result = OnpolicyTrainer(\n",
    "    policy=policy,\n",
    "    batch_size=256,\n",
    "    train_collector=train_collector,\n",
    "    test_collector=test_collector,\n",
    "    max_epoch=10,\n",
    "    step_per_epoch=50000,\n",
    "    repeat_per_collect=10,\n",
    "    episode_per_test=10,\n",
    "    step_per_collect=2000,\n",
    "    stop_fn=lambda mean_reward: mean_reward >= 195,\n",
    ").run()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "editable": true,
    "slideshow": {
     "slide_type": ""
    },
    "tags": []
   },
   "outputs": [],
   "source": [
    "train_result.pprint_asdict()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "colab": {
     "base_uri": "https://localhost:8080/"
    },
    "id": "G9YEQptYvCgx",
    "outputId": "2a9b5b22-be50-4bb7-ae93-af7e65e7442a"
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   "source": [
    "# Let's watch its performance!\n",
    "policy.eval()\n",
    "eval_result = test_collector.collect(n_episode=3, render=False)\n",
    "print(f\"Final reward: {eval_result.returns.mean()}, length: {eval_result.lens.mean()}\")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "xFYlcPo8fpPU"
   },
   "source": [
    "## Tutorial Introduction\n",
    "\n",
    "A common DRL experiment as is shown above may require many components to work together. The agent, the\n",
    "environment (possibly parallelized ones), the replay buffer and the trainer all work together to complete a\n",
    "training task.\n",
    "\n",
    "<div align=center>\n",
    "<img src=\"https://tianshou.readthedocs.io/en/master/_images/pipeline.png\">\n",
    "\n",
    "</div>\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "kV_uOyimj-bk"
   },
   "source": [
    "In Tianshou, all of these main components are factored out as different building blocks, which you\n",
    "can use to create your own algorithm and finish your own experiment.\n",
    "\n",
    "Building blocks may include:\n",
    "- Batch\n",
    "- Replay Buffer\n",
    "- Vectorized Environment Wrapper\n",
    "- Policy (the agent and the training algorithm)\n",
    "- Data Collector\n",
    "- Trainer\n",
    "- Logger\n",
    "\n",
    "\n",
    "These notebooks tutorials will guide you through all the modules one by one."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "S0mNKwH9i6Ek"
   },
   "source": [
    "## Further reading"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "M3NPSUnAov4L"
   },
   "source": [
    "### What if I am not familiar with the PPO algorithm itself?\n",
    "As for the DRL algorithms themselves, we will refer you to the [Spinning up documentation](https://spinningup.openai.com/en/latest/algorithms/ppo.html), where they provide\n",
    "plenty of resources and guides if you want to study the DRL algorithms. In Tianshou's tutorials, we will\n",
    "focus on the usages of different modules, but not the algorithms themselves."
   ]
  }
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